2 layers85 × 56 mm Lara hat v2, the printed circuit board in 3D

Lara hat v2

First flash the latest Raspberry Pi OS image to your preferred storage device. The official Raspberry Pi Imager can be used for that.

Open in PCBKit

Size: 85 × 56 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 31
Nets: 53
Pads: 143
Tracks, vias: 229, 21
Pours: 2
Routed: Yes
KiCad: KiCad 9.0 (file 20241229)
Created: 5 May 2026
Updated: 5 Nov 2026

Overview

Lara hat v2 is an open-source printed circuit board by LuHer10, from the LuHer10/LARA_V2 repository on GitHub. It is a 2-layer board of 85 × 56 mm with 31 parts on 53 nets, routed with 229 tracks and 21 vias.

It is built around the 74LVC2G241GS and SN65HVD230D. Its parts include 10 resistors, 7 connectors, 4 capacitors, 4 ICs and 3 diodes.

Main components

README

README.md

LARA_V2

Raspberry Pi Initial Configuration

Step 1: Raspberry Pi OS

First flash the latest Raspberry Pi OS image to your preferred storage device. The official Raspberry Pi Imager can be used for that.

Then perform an update

bash

sudo apt update

Step 2: Configure the CAN Hat for Steadywin motors

Add the following lines to /boot/firmware/config.txt

bash

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=25,spimaxfrequency=1000000

Reboot

bash

sudo reboot

See if initialization was successful

bash

dmesg | grep -i '\(can\|spi\)'

It should output something like this:

bash

[   20.892310] CAN device driver interface
[   20.915484] mcp251x spi0.0 can0: MCP2515 successfully initialized

Activate the CAN interface (example: 500000 baud)

bash

sudo ip link set can0 up type can bitrate 500000
sudo ifconfig can0 txqueuelen 65536
sudo ifconfig can0 up

Optional: Activate CAN interface on boot

Add the following to ~/.bashrc

bash

sudo ip link set can0 up type can bitrate 500000
sudo ifconfig can0 txqueuelen 65536
sudo ifconfig can0 up

Step 3: Configure the serial port for the RoboClaw

Step 4: Setup libraries for the Dynamixel servos

Download Dynamixel SDK

bash

git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git

Install requirements

bash

sudo apt-get install gcc
sudo apt-get install build-essential

Build the SDK

bash

cd DynamixelSDK/c++/build/linux_sbc
sudo make install

Done!

Steadywin GIM6010 Initial Configuration

With ODriveTool

python

odrv0.axis0.motor.config.current_lim = 3
odrv0.config.dc_bus_undervoltage_trip_level = 10

odrv0.axis0.config.can.heartbeat_rate_ms = 0
odrv0.axis0.config.can.encoder_rate_ms = 0

odrv0.save_configuration()

Parts

Qty	Value	Footprint	References
4	10k	Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder	R1, R2, R3, R4
3	47	Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder	R8, R9, R10
2	22p	Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C1, C2
2	4.7k	Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder	R6, R7
2	LOGO	LOGO	G*, G*
1	0.1u	Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C3
1	120	Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder	R5
1	12V-5V-Buck	components:Pololu_Buck_12V_-_5V	U5
1	1723104202	Molex_Ultra-Fit_Horizontal:CONN_1723102000_02_MOL	J5
1	1u	Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C4
1	74LVC2G241	Package_SO:VSSOP-8_2.3x2mm_P0.5mm	U3
1	8MHz	Crystal:Crystal_HC49-4H_Vertical	Y1
1	Conn_01x02_Pin	Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical	J4
1	Conn_Dynamixel	Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical	J3
1	Conn_RoboClaw	Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical	J2
1	I2C_JST	Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical	J7
1	LED_JST	Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical	J6
1	MCP2515-xSO	Package_SO:SOIC-18W_7.5x11.6mm_P1.27mm	U1
1	Raspberry_Pi_4	Connector_PinHeader_2.54mm:PinHeader_2x20_P2.54mm_Vertical	J1
1	S0	LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder	D3
1	S1	LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder	D4
1	S2	LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder	D5
1	SN65HVD230	Package_SO:SOIC-8_3.9x4.9mm_P1.27mm	U2

Questions

How big is the Lara hat v2 PCB?

It measures 85 × 56 mm and has 2 copper layers, 1.6 mm thick.

What parts does the Lara hat v2 use?

31 parts, built around the 74LVC2G241GS and SN65HVD230D. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.

Where can I download the Lara hat v2 KiCad files?

From the LuHer10/LARA_V2 repository on GitHub, at the commit this page was made from: the board is pcbs/lara_hat_v2/lara_hat_v2.kicad_pcb and its schematic pcbs/lara_hat_v2/lara_hat_v2.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Lara hat v2 design in my own project?

Its repository states no licence, so its author keeps all rights: ask LuHer10 before reusing the design.

Project files

Show this board on your page

A live frame, for any web page

<iframe src="https://pcbkit.io/embed/boards/luher10-lara-v2" title="Lara hat v2 in PCBKit" width="100%" height="480" style="border:0;border-radius:12px" allow="fullscreen" loading="lazy"></iframe>

A picture

<img src="https://pcbkit.io/embed/boards/luher10-lara-v2.jpg" alt="Lara hat v2" width="1200" height="900">

A picture that opens the board, for a README

[![Lara hat v2](https://pcbkit.io/embed/boards/luher10-lara-v2.jpg?size=s)](https://pcbkit.io/boards/luher10-lara-v2)

Source

Repository: LuHer10/LARA_V2
Board file: pcbs/lara_hat_v2/lara_hat_v2.kicad_pcb
Commit: 211a5c9
Licence: Not stated

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